KR20190086400A - A locking mechanism to secure a sterile adapter assembly to an actuator assembly for a robotic surgical system - Google Patents

Abstract

Disclosed is a mechanism for locking a sterile adapter assembly (303) with an actuator assembly (305) in a robotic surgical system (100). The locking mechanism comprises at least one engaging lug (403) and at least one female guide (415) spaced apart from each other on the sterile adapter assembly (303), wherein the at least one engaging lug (403) has a cylindrical profile including grooves, and the at least one female guide (415) has a guiding slot. The locking mechanism further comprises at least one notch (409) and at least one male guide (429) spaced apart from each other on the actuator assembly (305), wherein the at least one notch (409) defines a recess (405), and the at least one male guide (429) has a protruding profile. The at least one notch (409) of the actuator assembly (305) receives the at least one engaging lug (403) of the sterile adapter assembly (303), and the at least one female guide (415) of the sterile adapter assembly (303) receives the at least one male guide (429) of the actuator assembly (305) to interlock the sterile adapter assembly (303) with the actuator assembly (305).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a locking mechanism for a robotic surgery system for securing a sterile adapter assembly to an actuator assembly. BACKGROUND OF THE INVENTION < RTI ID = 0.0 > A &

The present invention generally relates to a robotic surgery system for minimally invasive surgery. More particularly, the present invention relates to an improved locking mechanism for securing a sterile adapter assembly to an actuator assembly of a robotic surgery system.

This section is intended to introduce various aspects of the technology that may be related to the various aspects of the present disclosure described below. This disclosure is believed to be instrumental in providing background information to aid a better understanding of the various aspects of the disclosure. It is, therefore, to be understood that such statements are to be read in this light, not merely of acknowledgment of the prior art.

The robot-assisted surgical system replaces existing surgical procedures to reduce the amount of unrelated tissue that can be damaged during surgery or diagnostic surgery, and has been adopted worldwide, and is being used worldwide for patient recovery time, patient discomfort, And especially harmful side effects. In robot assisted surgery, the surgeon typically operates the master controller at the surgeon's console to provide a perception that the surgeon is directly connected to the surgical tool to perform the surgery, while fully capturing and transmitting the complex tasks performed by the surgeon do. The surgeon operating the surgeon console may be located far away from the surgical site or within the operating room where the patient is being operated on.

Robotic assisted surgery has revolutionized the medical field and is one of the fastest growing sectors in the medical device industry. However, the main task in robot assisted surgery is to ensure safety and precision during surgery. One of the key areas of robot assisted surgery is the development of surgical robots for minimally invasive surgery. For decades, surgical robots have evolved exponentially and have been a major area of innovation in the medical device industry.

The robot assisted surgical system includes several robotic arms that assist in performing robotic surgery. The robot assisted surgical system uses a sterile barrier to separate the non-sterile portion of the robotic arm from the statutory sterile surgical instrument attached to the robotic arm at the surgical end. The sterilization barrier may include a sterile plastic drape surrounding the robotic arm and a sterile adapter operatively engaged with the sterile surgical instrument in the sterile region. The sterilization barrier may also include a curved drape interface for holding the drape portion therebetween such that torque and other force feedback are received as inputs from both the robotic arm and the sterile surgical instrument. The sterilization barrier is maintained between the sterile surgical and non-sterile robotic systems. The sterilizing adapter is detachably fastened to the actuator assembly that drives and controls the sterile surgical instrument in the sterile zone.

In robot surgery, when a surgical operation is performed, a new task arises. One challenge is that the area around the patient needs to be kept sterile. However, the electrical components of the actuator assembly, such as motors, sensors, encoders, and electrical connections required to control and move the sterile surgical instrument, can not be sterilized using conventional methods, such as steam, heat and pressure or chemicals, Because they can be damaged or destroyed during each sterilization process.

Thus, a sterile surgical instrument is fastened from the aseptic barrier and from the actuator assembly onto the sterile surgical instrument so that it can quickly and reliably attach a series of sterile surgical instruments from a sterile barrier that prevents contamination of the actuator assembly and maintains a sterile area around the surgical instrument. And an easier and more effective method of separating is essential.

Another challenge of the robotic assisted surgical system is to easily engage and disengage the sterilizing adapter with the actuator assembly so that the sterilizing barrier is not damaged. However, the engagement between the sterilizing adapter and the actuator assembly involves complicated assembly, which is costly to assemble, cumbersome, and time consuming.

SUMMARY OF THE INVENTION In view of the foregoing, there is a need for an improved locking mechanism for locking a sterile adapter assembly to an actuator assembly, while permitting easy detachment of the sterile adapter assembly and actuator assembly without destroying the sterile barrier during the performance of robotic surgery. Robotic surgery system is needed.

A mechanism for locking a sterile adapter assembly with an actuator assembly in a robotic surgical system is disclosed herein. Wherein the locking mechanism includes at least one locking lug and at least one arm guide spaced from each other on the sterile adapter assembly, the at least one locking lug having a cylindrical profile including a groove, And a guide slot. Wherein the locking mechanism further comprises at least one notch and at least one numbered guide spaced apart from one another on the actuator assembly, the at least one notch defining a recess and the at least one numbered guide having an extruded profile . Wherein at least one notch of the actuator assembly receives at least one locking lug of the sterilizing adapter assembly and at least one arm guide of the sterilizing adapter assembly receives at least one water guide of the actuator assembly so that the sterilizing adapter assembly To engage the actuator assembly.

BRIEF DESCRIPTION OF THE DRAWINGS For a more complete understanding of the advantages and features of the present invention, reference will now be made, by way of example, to the detailed description of the present invention, These drawings illustrate exemplary embodiments of the invention and are not to be considered as limiting the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS The invention will be described and explained with additional specificity and detail along with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1A shows a schematic view of a plurality of robotic arms of a robotic surgery system in accordance with an embodiment of the present invention.
Figure 1B shows a schematic view of a surgeon console of a robotic surgery system in accordance with an embodiment of the present invention.
1C shows a schematic view of a vision cart of a robotic surgery system in accordance with an embodiment of the present invention.
Figure 2 illustrates a perspective view of a tool interface assembly mounted on a robotic arm in accordance with an embodiment of the present invention.
Figure 3A illustrates a perspective view of a tool interface assembly in accordance with one embodiment of the present invention.
Figure 3B illustrates an exploded view of a tool interface assembly in accordance with one embodiment of the present invention.
4A illustrates a front view of an actuator assembly and a sterilizing adapter assembly in a disengaged position in accordance with an embodiment of the present invention.
4B illustrates a rear view of an actuator assembly and a sterilizing adapter assembly in a disengaged position in accordance with an embodiment of the present invention.
Figure 4c illustrates a view of an actuator assembly and a sterile adapter assembly in a locked position in accordance with one embodiment of the present invention.
5A illustrates a top view of a sterile adapter assembly in accordance with one embodiment of the present invention.
Figure 5B shows a bottom view of a sterile adapter assembly according to one embodiment of the present invention.
6A shows a front view of a floating plate of a sterile adapter assembly in accordance with an embodiment of the present invention.
Figure 6B illustrates a rear view of a floating plate of a sterile adapter assembly in accordance with an embodiment of the present invention.
7 shows a perspective view of a floating plate without a rotating body according to an embodiment of the present invention.
8A shows a rotating body with a spring according to an embodiment of the present invention.
Figure 8b shows a cut-away view of the spring shown in Figure 8a according to an embodiment of the invention.

In order to facilitate an understanding of the principles of the invention, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to explain the same. Nevertheless, it is not intended that the scope of the present invention be limited, and that such modifications and further modifications in the illustrated system, and further application of the principles of the invention as illustrated herein, It is to be understood that the person skilled in the art would normally think of it.

It will be understood by those of ordinary skill in the art that the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention. Throughout the patent specification, the same numbering conventionally in the accompanying drawings represents the same elements.

Reference herein to "an embodiment," " an embodiment, "" an embodiment," " another embodiment, " or similar language, means that a particular feature, ≪ / RTI > Thus, throughout this specification, "in an embodiment," in another embodiment, "in one embodiment," in another embodiment, "and similar language may all refer to the same embodiment, It is not.

The term " comprises, "" comprising, " or any variation thereof, means that a process or method comprising a list of steps is not represented in the list, And is intended to encompass non-exclusive inclusion as may be the case. Likewise, one or more devices or subsystems or elements or structures referred to by "comprises " may mean, without further constraints, other devices or other subsystems or other elements or other structures or additional devices or additional subsystems or elements, Does not exclude the presence of additional structures.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The devices, systems, and embodiments provided herein are illustrative only and not intended to be limiting.

Wherein the singular representation does not imply a positive limitation and indicates that at least one of the items mentioned is present. In addition, the terms sterile barrier and sterile adapter have the same meaning and may be used interchangeably throughout the detailed description.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention relates to a robotic surgery system for minimally invasive surgery. Robotic surgery systems typically include multiple robotic arms. One or more robotic arms are often referred to as articulated (jaw, scissors, grasper, needle holder, microdissector, staple applier, tacker, suction orifice (such as a suction or irrigation tool, a clip applier, etc.) or a non-tubing (such as a cutting blade, a cautery probe, an irrigator, a catheter, a suction orifice ), And the like). One or more of the robotic arms are often used to support one or more surgical image capture devices, such as an endoscope (which may be any of a variety of structures such as laparoscopic, arthroscopic, cervical, etc.), or alternatively, Ultrasound, fluoroscopic, magnetic resonance imaging, and the like).

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1A shows a schematic view of a plurality of robotic arms of a robotic surgery system in accordance with an embodiment of the present invention. In particular, FIG. 1 illustrates a robotic surgery system 100 having four robotic arms 103a, 103b, 103c, and 103d mounted around a patient cart 101. As shown in FIG. The four robotic arms 103a, 103b, 103c, 103d shown in FIG. 1 are for illustrative purposes, and the number of robot arms may vary depending on the type of surgery or the robotic surgery system. The four robot arms 103a, 103b, 103c and 103d are mounted along the patient cart 101 and are arranged on the robot arm 103a, 103b, 103c, The robot arm 103a, 103b, 103c or 103d individually mounted or the robotic arms 103a, 103b, 103c and 103d or the robot arms 103a, 103b, 103c and 103d mechanically and / 103b, 103c, and 103d (shown) connected to the central body to branch off from the body, but may be arranged in different manners.

Figure 1B shows a schematic view of a surgeon console of a robotic surgery system in accordance with an embodiment of the present invention. The surgeon console 117 helps the surgeon to remotely operate the patient lying in the patient cart 101 by controlling the robot arms 103a, 103b, 103c, 103d inside the patient's body. The surgeon console 117 is configured to control the movement of the surgical instrument (as shown in Figure 2) while the instrument is inside the patient. The surgeon console 117 may include at least one adjustable visual means 107 that is not limited to a 2D / 3D monitor, wearable visual means (not shown), and combinations thereof. The surgeon console 117 can be used to display a 3D high definition (HD) endoscopic view of the surgical site in the patient cart 101 as well as a plurality of displays < RTI ID = 0.0 > . In addition, the visual means 107 can provide various modes of the robotic surgery system 100 and can include various types of information such as the identification information and the number of attached robot arms, the type of tool currently attached, the current tool tip location, the ECG, It is possible to provide information not limited to collision information or the like together with medical information such as image, CT, and MRI information. The surgeon console 117 may further include a mechanism for controlling the robotic arm, not limited to one or more hand controllers 109, one or more foot controllers 113, a clutch mechanism (not shown), and combinations thereof have. The hand controller 109 of the surgeon console 117 is required to fully capture and transmit the complex operations performed by the surgeon while providing the surgeon with the perception that they are directly connected to the surgical tool. Other controllers may be needed for other purposes during surgery. In some embodiments, the hand controller 109 may be one or more manual manipulation input devices, such as a joystick, an exoskeleton glove, a power and gravity compensation actuator, and the like. The hand controller 109 controls a remote operation motor which sequentially controls the movement of the surgical instrument attached to the robot arm. The surgeon may sit in a resting device, such as chair 111, as shown in FIG. 1B, while controlling the surgeon console 117. The chair 111 can be adjusted by a height adjusting means, an elbow supporting means, or the like according to the convenience of the surgeon, and various control means can also be provided on the chair 111. In addition, the surgeon console 117 may be located at a single location within the operating room, or at any other location within the hospital if connectivity to the robotic arm is maintained.

1C shows a schematic view of a vision cart of a robotic surgery system in accordance with an embodiment of the present invention. The vision cart 119 is configured to display 2D and / or 3D views of the surgery captured by the endoscope. The vision cart 119 can be adjusted to various angles and heights at the convenience of viewing. The vision cart 119 may have various functions that are not limited to providing a touch screen display, preview / recording / playback provision, various input / output means, a 2D 3D converter, and the like. Vision cart 119 may include a vision system portion (not shown) that allows an observer or other non-surgical surgeon to view the surgical site outside the patient's body. One of the robotic arms is typically fastened to a surgical instrument having a video-image capture function (i.e., a camera mechanism) for displaying an image captured on the vision cart 119. In some robotic surgical system configurations, the camera mechanism includes an optic that transmits an image from the distal end of the camera instrument to one or more imaging sensors (e.g., a CCD or CMOS sensor) external to the patient's body. Alternatively, the imaging sensor (s) may be located at the distal end of the camera mechanism and signals generated by the sensor (s) may be transmitted along the lead or wirelessly to be displayed on the processing and vision cart 119 .

Figure 2 illustrates a perspective view of a tool interface assembly mounted on a robotic arm in accordance with an embodiment of the present invention. The tool interface assembly 200 is mounted on the robotic arm 201 of the robotic surgery system 100. Tool interface assembly 200 is a key component for performing robotic surgery on a patient. The robot arm 201 shown in FIG. 2 is shown for illustrative purposes only, and other robotic arms having different configurations, degrees of freedom (DOF), and shape may be used.

Figure 3a shows a perspective view of a tool interface assembly and Figure 3b shows an exploded view of a tool interface assembly according to an embodiment of the invention. The tool interface assembly 200 illustrated by either FIG. 3a or 3b may include an ATI (such as an arm and tool interface) that facilitates the tool interface assembly 200 to be operatively connected to a robotic arm (shown in FIG. 2) ) Connector 315 (shown in Fig. 3B). In addition, the tool interface 200 further includes an actuator assembly 305 mounted on the guiding mechanism and able to move linearly along the guiding mechanism. The guiding mechanism shown in Figs. 3A and 3B is a guide rail 321. Fig. The movement of the actuator assembly 305 on the guide rail 321 is controlled by a surgeon with the aid of a controller on the surgeon console 117 as shown in FIG. The sterilizing adapter assembly 303 is releasably mounted on the actuator assembly 305 to separate the non-sterile portion of the robotic arm from the sterile surgical tool assembly 301. A locking mechanism (as shown in FIG. 4) is provided for releasably locking and releasing the sterile adapter assembly 303 with the actuator assembly 305. The sterilizing adapter assembly 303 detachably engages an actuator assembly 305 that drives and controls the sterile surgical instrument in the sterilization zone. In yet another embodiment, the surgical tool assembly 301 may also be releasably locked / unlocked / fastened / released with the sterilizing adapter assembly 303 by the push button 319.

Referring to FIG. 3B, the surgical tool assembly 301 includes a shaft 311 and an end effector 313. The end effector 313 may include a surgical instrument or may be configured to attach a surgical instrument. The end effector 313 can be a forceps, a needle driver, battery sheaths, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, an anastomosis device, or an imaging device (e.g., an endoscope or an ultrasound probe), and the like. (Sometimes referred to as a "wrist") with respect to the surgical tool assembly 301 such that the position and orientation of the surgical tool assembly 301 can be manipulated with respect to the shaft 311 of the instrument in one or more machine- ). ≪ / RTI > Also, the end effector 313 includes functional mechanical degrees of freedom, such as a knife that translates along a jaw or path that is open or closed. The surgical tool assembly 301 may also include information that is persistent or stored (e.g., stored on a semiconductor memory within the device) that may be updated by the robotic surgery system 100.

The cannula gripper 309 provided on the tool interface assembly 200 is configured to grip the cannula 307 that receives the shaft 311 through an opening (not shown). The cannula 307 includes a hollow body including a groove (not shown) in an interior surface (not shown). The groove provides a locking mechanism to secure the cannula 307 to the shaft 311 at a desired angle and to prevent shifting, twisting, or any axial movement of the shaft 311 once received in the cannula 307. The cannula gripper 309 includes a body, such as a flap, detachably attached to one end of the tool interface assembly 200 and receiving the cannula 307. Alternatively, the cannula gripper 309 may have a circular body for receiving the cannula 307 and may include a groove for gripping the cannula 307 at a fixed position.

The cannula gripper 309 may be secured to the body of the tool interface assembly 200 and configured to grasp or secure the cannula 307 such that the cannula 307 is stable during surgical operations. The cannula gripper 309 can be attached to the mount 323 of the tool interface assembly 200 by receiving the cannula gripper 309 within the set of grooves of the mount 323.

4A illustrates a front view of an actuator assembly and a sterilizing adapter assembly in a disengaged position in accordance with an embodiment of the present invention. The sterile adapter assembly 303 is configured to be releasably mountable on the actuator assembly 305 by various locking mechanisms that are not limited to snap fit, push button locking mechanisms, and the like.

One embodiment of the present invention includes a sterilizing adapter assembly 303 having a housing 401 having a top surface 421 and a bottom surface 419 and at least one floating plate 423 ) (Shown in FIG. 4B). At least one floating plate 423 (shown in Figure 5A) has at least one rotating body (shown in Figure 5A). A detailed description of a floating plate having a rotating body is provided in the description of the accompanying drawings. The sterile adapter assembly 303 may further include a compression mechanism (shown in FIG. 7), and a detailed description thereof is provided in the description of the attached drawings. The sterile adapter assembly 303 may further include a compression mechanism (shown in FIG. 7), and a detailed description thereof is provided in the description of the attached drawings.

Sterile adapter assembly 303 may include at least one locking lug 403 and at least one arm guide 415. [ At least one locking lug 403 is disposed at one end of the lower surface 419 of sterilizing adapter assembly 303 and at least one arm guide 415 is disposed on the lower surface 419 of sterilizing adapter assembly 303 Is disposed on the opposite side of the one or more engagement lugs (403).

At least one fastening lug 403 may be a cylindrical profile having grooves on the periphery. The cylindrical profile may have a notch at its outer periphery. The at least one arm guide 415 may comprise a guiding slot, in particular a rectangular guiding slot. According to a particular embodiment, the sterilizing adapter assembly 303 includes two fastening lugs 403 and 425 spaced apart from one another at one end of the lower surface 419 and a fastening lug 408 fastened to the fastening lugs 403 and 425 on the lower surface 419 And two arm guides 415 and 427 spaced from each other on opposite ends.

Sterile adapter assembly 303 may be made of any suitable resilient material, such as metal or alloy. The material of the sterile adapter assembly 303 may be selected from the group consisting of aluminum, steel, iron, nickel, copper, zinc, tin or any combination thereof. According to a particular embodiment of the present invention, the sterile adapter assembly 303 is made of aluminum. Sterile adapter assembly 303 may be painted or have a protective coating such as an alloy coating. According to one embodiment, the anodizing process may be used to coat the sterilizing adapter assembly 303, such as forming a protective coating of aluminum oxide on the surface of the sterilizing adapter assembly 303. The sterile adapter assembly 303 may be any suitable size that can be conveniently attached to the actuator assembly 305 without affecting the ease of surgical operation. Sterile adapter assembly 303 may be of a suitable thickness to provide sufficient strength.

Sterile adapter assembly 303 may be of any suitable shape to maintain ease of attachment of sterile adapter assembly 303. According to one embodiment of the present invention, the sterilizing adapter assembly 303 is a substantially square plate and the lower end of the sterilizing adapter assembly 303 includes a protrusion that is larger than the upper end of the sterilizing adapter assembly 303. The detailed description of the sterile adapter assembly 303 is provided in the description of the attached drawings.

The actuator assembly 305 includes a housing 417, at least one male guide 429 with a protruding profile, at least one locking notch 409 defining the recess 405, one or more locking plates 407, And may include one or more driving elements 413. One or more locking notches 409 are disposed at one end of the upper surface 421 of the actuator assembly 305 and one or more male guides 429 are disposed on one or more of the locking notches 408 of the upper surface 421 of the actuator assembly 305. [ (409). The actuator assembly 305 may include various mechanical motors and electrical connections to facilitate movement of the drive element 413 when the surgeon operates the surgeon console 117 to control the surgical instrument during surgery .

The actuator assembly 305 includes two water guides 411 and 429 spaced from one another on one end of the upper surface 421 and an opposite end 422 of the water guides 411 and 429 on the upper surface 421. [ And two locking notches 409 and 431 spaced apart from each other. Each of the two locking notches 409, 431 defines a recess 405, 433.

The actuator assembly 305 may be made of any suitable resilient material, such as a metal or alloy. The material for the actuator assembly 305 may be selected from the group consisting of aluminum, steel, iron, nickel, copper, zinc, tin or any combination thereof. According to a particular embodiment of the present invention, the actuator assembly 305 is made of aluminum. The actuator assembly 305 may be painted or have a protective coating such as an alloy coating. According to one embodiment, the anodizing process may be used to coat the actuator assembly 305, such as forming a protective coating of aluminum oxide on the surface of the actuator assembly 305. The actuator assembly 305 may be any suitable size that can be conveniently attached to the tool interface assembly 200 without affecting the ease of surgical operation. The actuator assembly 305 may be of a suitable thickness to provide sufficient strength.

The actuator assembly 305 may be of any suitable shape to maintain ease of attachment of the actuator assembly 305. According to one embodiment of the present invention, the actuator assembly 305 is substantially rectangular in shape with the body of the actuator assembly 305 tapering substantially toward the upper end of the actuator assembly 305. A detailed description of the actuator assembly 305 is provided in the description of the accompanying drawings.

The sterilizing adapter assembly 303 is positioned between two locking lugs 403 and 425 of the sterilizing adapter assembly 303 and two locking notches 409 and 431 of the actuator assembly 305 and between the two locking lugs 403 and 425 of the sterilizing adapter assembly 303. In this particular embodiment, Is releasably attached to the actuator assembly 305 by engagement between the two water guides 411 and 429 of the assembly 305 and the two arm guides 415 and 427 of the sterilizing adapter assembly 303. During this locking mechanism the locking lugs 403 and 425 of the sterile adapter assembly 303 are received by respective grooves 405 of the respective locking notches 409 and 431 and simultaneously the one or more of the actuator assemblies 305 The water guides 411 and 429 fit into the guiding slots of the arm guides 427 and 415 of the sterilizing adapter assembly 303 to secure the sterilizing adapter assembly 303 to the actuator assembly 305. While releasing the sterilizing adapter assembly 303 from the actuator assembly 305 the locking notches 409 and 431 are pressed to release the locking lugs 403 and 425 of the sterilizing adapter assembly 303 from the actuator assembly 305 Thereby enabling the sterilizing adapter assembly 303 to be easily detached. The locking mechanism described above is very fast, reliable and ergonomic, which is very important during tool replacement during robot assisted surgery.

4B illustrates a rear view of an actuator assembly and a sterilizing adapter assembly in a disengaged position in accordance with an embodiment of the present invention. Figure 4b clearly shows two arm guides 415 and 427 and one or more actuating elements 413 in connection with the sterilizing adapter assembly 303 and the actuator assembly 305, respectively.

Figure 4c illustrates a view of an actuator assembly and a sterile adapter assembly in a locked position in accordance with one embodiment of the present invention.

In one embodiment, at least one notch 409 of the actuator assembly 305 in the first non-locking position (as shown in FIG. 4A) is moved from the first non-locking position to the first locking position A At least one locking guide 405 of the sterilizing adapter assembly 303 is received and the at least one arm guide 415 of the sterilizing adapter assembly 303 at the second unlocking position (as shown in Figure 4a) Accommodates the at least one water guide 429 of the actuator assembly 305 to move from the second unlocked position to the second locked position B to engage the sterile adapter assembly 303 with the actuator assembly 305.

5A illustrates a top view of a sterile adapter assembly in accordance with one embodiment of the present invention. The sterilization adapter assembly 303 may include a housing 401 having a top surface 421 and a bottom surface 419, a memory device 507, at least one floating plate 423, May include one or more rotating bodies 505 resiliently mounted on each of the floating plates 423. In one embodiment, the four rotating bodies 505a, 505b, 505c, and 505d are mounted on one floating plate 423, and the rotation of each rotating body 505a, 505b, 505c, They are spaced apart from each other so as not to be influenced by the rotation of the body. According to a particular embodiment, the rotating bodies 505a, 505b, 505c, and 505d have a circular profile.

In another embodiment, each rotating body 505a, 505b, 505c, 505d may include a compression mechanism 700 enclosed within the housing of the rotating bodies 505a, 505b, 505c, 505d. Details of the compression mechanism 700 are discussed in conjunction with the description of FIG. 7 attached hereto.

In other embodiments, each of the rotating bodies 505a, 505b, 505c, and 505d may be made of any suitable resilient material, such as a metal or alloy. The material for the rotating bodies 505a, 505b, 505c, 505d may be selected from the group consisting of aluminum, steel, iron, nickel, copper, zinc, tin or any combination thereof. According to a particular embodiment of the present invention, each rotating body 505a, 505b, 505c, 505d is made of aluminum. The rotating bodies 505a, 505b, 505c, and 505d may be painted or have a protective coating such as an alloy coating. According to one embodiment, the anodizing process may be used to coat the rotating bodies 505a, 505b, 505c, and 505d, such as forming a protective coating of aluminum oxide on the surfaces of the rotating bodies 505a, 505b, 505c, . The rotating bodies 505a, 505b, 505c, and 505d may be any suitable size that can be conveniently attached to the floating plate 423 without affecting the ease of mechanical actuation. The rotating bodies 505a, 505b, 505c, and 505d may be of appropriate thickness to provide sufficient strength.

In another embodiment, at least the floating plate 423 may include openings to which the rotating bodies 505a, 505b, 505c, and 505d may be attached. The rotating bodies 505a, 505b, 505c and 505d may be glued on the floating plate 423 or may be rotatably fixed to the floating plate 423, bolted, riveted, threaded, Lt; / RTI >

The memory device 507 may be any readable memory device such as flash memory, EEPROM, and the like. The memory device 507 may store various data that is not limited to surgical instrument type, compatibility information, and the like. Each rotating body 505a, 505b, 505c, 505d may be electromechanically associated with a surgical instrument / tool.

Figure 5B shows a bottom view of a sterile adapter assembly according to one embodiment of the present invention. The bottom view of the sterile adapter assembly 303 shows the bottom surface of the rotating plate 423 and the bottom surface of the rotating body 505a, 505b, 505c, 505d mounted on the floating plate 423. Each of the rotating bodies 505a, 505b, 505c, and 505d may be electromechanically coupled to the driving element 413 (see FIG. 4B).

The sterilizing adapter assembly 303 also includes two locking lugs 403 and 425 on one end of the bottom surface 419 and two arm guides 415 and 427 on opposite ends of the bottom surface 419 .

The sterilizing adapter assembly 303 is positioned between two locking lugs 403 and 425 of the sterilizing adapter assembly 303 and two locking notches 409 and 431 of the actuator assembly 305 and between the two locking lugs 403 and 425 of the sterilizing adapter assembly 303. In this particular embodiment, Is releasably attached to the actuator assembly 305 by engagement between the two water guides 411 and 429 of the assembly 305 and the two arm guides 415 and 427 of the sterilizing adapter assembly 303.

6A and 6B, the upper side and the lower side of the floating plate 423 including the rotating bodies 505a, 505b, 505c, and 505d according to an embodiment of the present invention are shown. As shown in FIG. 6A, each of the rotating bodies 505a, 505b, 505c, and 505d may include one or more hollow openings 601a and 601b that penetrate the outer circumferential surface. In a particular embodiment, each rotating body 505a, 505b, 505c, 505d includes two hollow openings 601a, 601b. Each of the rotating bodies 505a, 505b, 505c, and 505d on the floating plate 423 may further include a recess 603 sandwiched between the openings 601a and 601b. The distance between the openings 601a and 601b and the distance between the recesses 603 and the openings 601a and 601b may vary depending on the configuration of the respective rotating bodies 505. [ The floating plate 423 shows the bottom of each rotating body 505a, 505b, 505c, and 505d (as shown in FIG. 6B). In addition, each of the floating plates 423 can move up and down within the sterilizing adapter assembly 303.

The openings 601a and 601b are configured to receive and fasten one or more fins of the drive element 413 of the actuator assembly 305. One or more pins of the driving element 413 are configured to snap fit the openings 601a, 601b of the rotating bodies 505a, 505b, 505c, 505d. The configuration of the outer peripheral surface of the driving element 413 is substantially similar to the peripheries of the openings 601a and 601b of the rotating bodies 505a, 505b, 505c and 505d.

In another embodiment, the floating plate 423 is attached to the inside of the housing 401 so that the floating plate 423 is fastened to the upper surface 421 and the lower surface 419.

Figure 7 illustrates a floating plate without a rotating body according to an embodiment of the present invention. The compression mechanism 700 is located in a recess (not shown) where the rotating body is assumed to be located. According to a particular embodiment, the compression mechanism is a spring 701. The spring 701 may be integrated with the rotating bodies 505a, 505b, 505c, and 505d and may facilitate the rotating bodies 505a, 505b, 505c, and 505d to compress and expand along their axis.

8A and 8B, there is shown one rotating body 800 according to one embodiment of the present invention. The rotating body 800 includes an upper body 801 and a lower body 803 that are operatively connected by a guiding bar 805. Also, a spring 701 is sandwiched between the upper body 801 and the lower body 803 and wound around the guiding bar 805. The spring 701 and the guiding bar 805 mechanism provide additional flexibility between the upper body 801 and the lower body 803 of the rotating body 800. This arrangement provides efficient delivery to commands from the surgeon's console to the actuator assembly 305 to control the movement of the surgical instrument.

In certain embodiments, when the sterilizing adapter assembly 303 is fastened to the actuator assembly 305, the spring 701 facilitates locking the sterilizing adapter assembly 303 with the actuator assembly 305. More specifically, when the sterilizing adapter assembly 303 is fastened to the actuator assembly 305, one or more fins of the driving element 413 and the openings 601a, 601b of the rotating body 505 are misaligned and more frequently They are not connected to each other. In this situation, the spring 701 between the rotating bodies 505 allows the sterilizing adapter assembly 303 not to actually engage the one or more pins of the driving element 413 and the openings 601a, 601b of the rotating body 505 To be locked with the actuator assembly 305. After locking the sterilizing adapter assembly 303 with the actuator assembly 305, a referencing is performed in which one or more pins of the driving element 413 are actually engaged with the openings 601a and 601b of the rotating body 505 With the help of tension).

In another embodiment, the sterilizing adapter assembly 303 provides an interface for transferring mechanical and electrical energy and signals between the surgical instrument and the robotic surgical system, while maintaining an aseptic barrier between the sterile surgical area and the non- sterile robotic system (Not shown) for draping a portion of the robotic surgical system (particularly the robotic arms 103a, 103b, 103c, and 103d). In one embodiment, the sterile adapter assembly 303 may be permanently attached to the sterile drape by a film adhesive material that is attached to the sterile drape using impulse hot sealing and / or an adhesive film.

In another embodiment, the sterilizing adapter assembly 303 includes a pair of supports (not shown) serving to properly align, position, and maintain the surgical instrument on the upper side of the sterilizing adapter assembly 303 for engagement with the instrument manipulator Time. The rotating bodies 505a, 505b, 505c, and 505d help the instrument operator align the surgical instrument on the sterile adapter assembly 303.

The foregoing description of exemplary embodiments of the invention has been presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the invention to the precise form disclosed, but obviously many modifications and variations are possible in light of the above teachings. The illustrative embodiments have been chosen and described to best explain the principles of the invention and its practical application, and to enable others of ordinary skill in the art to make the various modifications as are suited to the invention and the particular use contemplated. It will be understood that various omissions and substitutions of equivalents are contemplated, but are intended to cover adaptations or implementations that do not depart from the spirit or scope of the claims of the invention.

Benefits, other advantages, and solutions to problems have been described above with regard to specific embodiments. However, it should be understood that any element (s) capable of causing or causing any benefit, advantage, or solution to occur, or to bring about any benefit, advantage, and solution to a problem and any benefit, advantage, It should not be interpreted as an element.

While certain languages have been used to describe the disclosure, the limitations arising from such content are not intended. As will be apparent to those of ordinary skill in the art, various practical modifications may be made to the apparatus to implement the concepts of the invention as taught herein.

Claims (7)

A mechanism for locking the sterile adapter assembly 303 in the robot surgery system 100 to the actuator assembly 305,
At least one locking lug (403) and at least one arm guide (415) spaced from one another on the sterilizing adapter assembly (303); Said at least one locking lug (403) having a cylindrical profile comprising a groove and said at least one arm guide (415) having a guide slot; And
At least one notch (409) and at least one male guide (429) spaced apart from one another on the actuator assembly (305); Said at least one notch (409) defining a recess (405) and said at least one male guide (411) having an extruded profile; Lt; / RTI >
At least one notch 409 of the actuator assembly 305 receives at least one locking lug 403 of the sterilizing adapter assembly 303 and includes at least one arm guide 415 of the sterilizing adapter assembly 303, For receiving at least one water guide (429) of the actuator assembly (305) to engage the sterile adapter assembly (303) with the actuator assembly (305). The method according to claim 1,
Wherein the at least one notch (409) includes release means for detaching the sterilizing adapter assembly (303) from the actuator assembly (305). 3. The method of claim 2,
Wherein the releasing means is a push button. The method according to claim 1,
At least one notch 409 of the actuator assembly 305 at a first non-locking position receives at least one locking lug 403 of the sterilizing adapter assembly 303 to allow the first locking And at least one arm guide 415 of the sterilizing adapter assembly 303 at a second non-locking position receives at least one male guide 429 of the actuator assembly 305 to move the second non- Position to a second locked position to engage the sterile adapter assembly (303) with the actuator assembly (305). The method according to claim 1,
Wherein the recess (405) of the at least one notch (409) has a cylindrical slot to engage the at least one locking lug (403). The method according to claim 1,
The sterilizing adapter assembly (303) and the actuator assembly (305) are made of aluminum. The method according to claim 1,
Wherein the at least one locking lug (403) and the at least one arm guide (415) are disposed facing each other on a lower surface (419) of the sterilizing adapter assembly (303).

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